test_demos.md

Test demos

To make sure you've installed and configured everything correctly, you can see how to run everything normally, and try out a basic demo of a State package (the walking_gait package).

Note: If you want to try out other demos, you can clone them from this repository.

On the first terminal

Navigate to the project directory, source the installation files, then launch one of the launch files.

source /opt/ros/humble/setup.bash
cd ~/smov
source install/setup.bash

• If you are using only one microcontroller:

ros2 launch smov_bringup smov_single_board.launch.py

• If you are using two microcontrollers:

ros2 launch smov_bringup smov_dual_board.launch.py

You should see that your servos are at the initial values you defined earlier in your configuration file.

On the second terminal

Navigate to the project directory, source the installation files, then run the walking_gait package.

source /opt/ros/humble/setup.bash
cd ~/smov
source install/setup.bash

You can therefore choose try a basic simulation of motion.

ros2 run walking_gait state

Next step: Create your own State package